Asparagus is wonderful for many reasons, but one of them is the range of textures and tastes different cooking methods can impart.
Grilling kicks off charring on the outer skin (not Maillard reactions to my knowledge - no amino acids - but something similar), and gives a wonderful gradient of textures between the skin and the soft, liquid core.
Microwaving (yes, really - NYT had an article about microwaving vegetables a couple of years ago, pointing out it's an excellent way to cook most veg) gives crisp, even spears with no toughness but plenty of crunch and a superb retention of pure flavour.
Frying with garlic is probably the best way to introduce other flavours that will complement the main spear, IMO, and also leans toward the softer texture of grilling.
Boiling has its place too - I avoided it for many years before becoming curious as to why blanching is still used in most top-end restaurants. It's very fast, it produces a softer spear than steam or microwave, if you time a cold water bath right it'll give you a brilliantly green stalk, and it gives nearly as clear a taste as microwaving. Plus, it's a good way to introduce the tiniest bit of salt - which acts as a flavour enhancer.
False. Asparagus (like many vegetables) should be roasted with garlic in a little bit of oil.